160 lines
6.5 KiB
Python
Executable File
160 lines
6.5 KiB
Python
Executable File
#!/usr/bin/env python3
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# type: ignore
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import os
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import time
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import argparse
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import signal
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from collections import defaultdict
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import cereal.messaging as messaging
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from openpilot.tools.lib.logreader import LogReader
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def sigint_handler(signal, frame):
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exit(0)
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signal.signal(signal.SIGINT, sigint_handler)
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class SteeringAccuracyTool:
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all_groups = {"germany": (45, "45 - up m/s // 162 - up km/h // 101 - up mph"),
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"veryfast": (35, "35 - 45 m/s // 126 - 162 km/h // 78 - 101 mph"),
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"fast": (25, "25 - 35 m/s // 90 - 126 km/h // 56 - 78 mph"),
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"medium": (15, "15 - 25 m/s // 54 - 90 km/h // 34 - 56 mph"),
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"slow": (5, " 5 - 15 m/s // 18 - 54 km/h // 11 - 34 mph"),
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"crawl": (0, " 0 - 5 m/s // 0 - 18 km/h // 0 - 11 mph")}
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def __init__(self, args):
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self.msg_cnt = 0
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self.cnt = 0
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self.total_error = 0
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if args.group == "all":
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self.display_groups = self.all_groups.keys()
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elif args.group in self.all_groups.keys():
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self.display_groups = [args.group]
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else:
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raise ValueError("invalid speed group, see help")
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self.speed_group_stats = {}
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for group in self.all_groups:
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self.speed_group_stats[group] = defaultdict(lambda: {'err': 0, "cnt": 0, "=": 0, "+": 0, "-": 0, "steer": 0, "limited": 0, "saturated": 0, "dpp": 0})
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def update(self, sm):
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self.msg_cnt += 1
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lateralControlState = sm['controlsState'].lateralControlState
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control_type = list(lateralControlState.to_dict().keys())[0]
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control_state = lateralControlState.__getattr__(control_type)
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v_ego = sm['carState'].vEgo
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active = sm['controlsState'].active
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steer = sm['carOutput'].actuatorsOutput.steer
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standstill = sm['carState'].standstill
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steer_limited = abs(sm['carControl'].actuators.steer - sm['carControl'].actuatorsOutput.steer) > 1e-2
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overriding = sm['carState'].steeringPressed
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changing_lanes = sm['modelV2'].meta.laneChangeState != 0
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model_points = sm['modelV2'].position.y
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# must be engaged, not at standstill, not overriding steering, and not changing lanes
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if active and not standstill and not overriding and not changing_lanes:
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self.cnt += 1
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# wait 5 seconds after engage / standstill / override / lane change
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if self.cnt >= 500:
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actual_angle = control_state.steeringAngleDeg
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desired_angle = control_state.steeringAngleDesiredDeg
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# calculate error before rounding, then round for stats grouping
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angle_error = abs(desired_angle - actual_angle)
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actual_angle = round(actual_angle, 1)
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desired_angle = round(desired_angle, 1)
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angle_error = round(angle_error, 2)
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angle_abs = int(abs(round(desired_angle, 0)))
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for group, group_props in self.all_groups.items():
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if v_ego > group_props[0]:
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# collect stats
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self.speed_group_stats[group][angle_abs]["cnt"] += 1
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self.speed_group_stats[group][angle_abs]["err"] += angle_error
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self.speed_group_stats[group][angle_abs]["steer"] += abs(steer)
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if len(model_points):
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self.speed_group_stats[group][angle_abs]["dpp"] += abs(model_points[0])
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if steer_limited:
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self.speed_group_stats[group][angle_abs]["limited"] += 1
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if control_state.saturated:
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self.speed_group_stats[group][angle_abs]["saturated"] += 1
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if actual_angle == desired_angle:
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self.speed_group_stats[group][angle_abs]["="] += 1
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else:
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if desired_angle == 0.:
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overshoot = True
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else:
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overshoot = desired_angle < actual_angle if desired_angle > 0. else desired_angle > actual_angle
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self.speed_group_stats[group][angle_abs]["+" if overshoot else "-"] += 1
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break
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else:
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self.cnt = 0
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if self.msg_cnt % 100 == 0:
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print(chr(27) + "[2J")
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if self.cnt != 0:
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print("COLLECTING ...\n")
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else:
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print("DISABLED (not active, standstill, steering override, or lane change)\n")
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for group in self.display_groups:
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if len(self.speed_group_stats[group]) > 0:
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print(f"speed group: {group:10s} {self.all_groups[group][1]:>96s}")
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print(f" {'-'*118}")
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for k in sorted(self.speed_group_stats[group].keys()):
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v = self.speed_group_stats[group][k]
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print(f' {k:#2}° | actuator:{int(v["steer"] / v["cnt"] * 100):#3}% ' +
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f'| error: {round(v["err"] / v["cnt"], 2):2.2f}° | -:{int(v["-"] / v["cnt"] * 100):#3}% ' +
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f'| =:{int(v["="] / v["cnt"] * 100):#3}% | +:{int(v["+"] / v["cnt"] * 100):#3}% | lim:{v["limited"]:#5} ' +
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f'| sat:{v["saturated"]:#5} | path dev: {round(v["dpp"] / v["cnt"], 2):2.2f}m | total: {v["cnt"]:#5}')
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print("")
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if __name__ == "__main__":
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parser = argparse.ArgumentParser(description='Steering accuracy measurement tool')
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parser.add_argument('--route', help="route name")
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parser.add_argument('--addr', default='127.0.0.1', help="IP address for optional ZMQ listener, default to msgq")
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parser.add_argument('--group', default='all', help="speed group to display, [crawl|slow|medium|fast|veryfast|germany|all], default to all")
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parser.add_argument('--cache', default=False, action='store_true', help="use cached data, default to False")
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args = parser.parse_args()
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if args.cache:
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os.environ['FILEREADER_CACHE'] = '1'
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tool = SteeringAccuracyTool(args)
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if args.route is not None:
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print(f"loading {args.route}...")
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lr = LogReader(args.route, sort_by_time=True)
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sm = {}
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for msg in lr:
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if msg.which() == 'carState':
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sm['carState'] = msg.carState
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elif msg.which() == 'carControl':
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sm['carControl'] = msg.carControl
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elif msg.which() == 'controlsState':
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sm['controlsState'] = msg.controlsState
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elif msg.which() == 'modelV2':
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sm['modelV2'] = msg.modelV2
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if msg.which() == 'carControl' and 'carState' in sm and 'controlsState' in sm and 'modelV2' in sm:
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tool.update(sm)
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else:
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if args.addr != "127.0.0.1":
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os.environ["ZMQ"] = "1"
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messaging.context = messaging.Context()
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carControl = messaging.sub_sock('carControl', addr=args.addr, conflate=True)
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sm = messaging.SubMaster(['carState', 'carControl', 'carOutput', 'controlsState', 'modelV2'], addr=args.addr)
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time.sleep(1) # Make sure all submaster data is available before going further
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print("waiting for messages...")
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while messaging.recv_one(carControl):
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sm.update()
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tool.update(sm)
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